| 摘要 |
PURPOSE:To easily execute an origin return by being equipped with a nonvolatile memory to store the present position of a shifting body and a means to retrieve the nonvolatile memory at the time of turning on the electric power source and when the shifting body is not present at a starting permitting area, shift the shifting body to the starting permitting area. CONSTITUTION:When an electric power source is turned on, a CPU 11 retrieves a RAM 17, and when the electric power source is turned off, position information written in the RAM 17 is read. It is judged from the position information whether or not a robot is at a starting permitting area, and when it is not at the starting permitting area, the CPU 11 drives a motor I31, a motor II33 and a motor III35 via a servo IF21 and a servo amplifier 29 and shifts the robot into the starting permitting area. Next, the CPU 11 shifts the robot until a limit signal is turned on by a fast forwarding in an origin return direction.
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